romarcg / thymio_course_skeleton Goto Github PK

Add the thymio_course_skeleton package to your your_catkin_workspace:

cd <your_catkin_workspace>/src
git clone https://github.com/romarcg/thymio_course_skeleton.git
catkin build

1. Bring up gazebo and the MyT's model. You must name your simulated MyT with the name parameter, e.g. thymio10. In addition you must indicate a world to simulate:

roslaunch thymio_course_skeleton thymio_gazebo_bringup.launch name:=thymio10 world:=empty

Examples of world definitions are stored in .world files in launch/worlds/. Two worlds are included, one empty with a large plane and another with a large plane and a wall.

If you want to modify the MyT's spawing pose, explore thymio_gazebo_bringup.launch file.

2. Visualize a full set of topics exposed by the simulated low-level MyT controller:

roslaunch thymio_course_skeleton thymio_rviz.launch name:=thymio10

All topic names from the simulated MyT have as prefix the chosen name, e.g. /thymio10/odom

Perform basic interfacing tasks:

• A simple controller that sets constant velocities by publishing cmd_vel messages.
• A subscriber that receives odometry information from simulation.

basic_move.py indefinitely performs the above tasks on a simulated MyT. It requires the MyT's name to interface with the correct topics.

rosrun thymio_course_skeleton basic_move.py thymio10